A drill pipe guide system having a support structure configured to be positioned on a rig floor or drillship floor, an articulating arm coupled to the support structure, wherein the articulating arm is coupled to the support structure, wherein the articulating arm is configured to pivot relative to the support structure, and a clamp coupled to the articulating arm, wherein the clamp is configured to encircle a drill string and limit radial movement of the drill string as the drill string is lowered beneath the rig floor or drillship floor.